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《Journal of Chongqing University of Technology(Natural Science)》 2017-08
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Research on Unmanned Aerial Vehicle Pipeline Tracking Method in Undulating Terrain

YONG Qiwei;YU Yanjia;CHEN Yan;LI Yun;ZHUO Yue;The Military Supply Department,Logistical Engineering University of PLA;PLA Shenyang Logistics Center of Shenyang Oil Depot;  
In the use of unmanned ground pipeline inspection,general ideal operation flight height is about 100 m,and the UAV will set the height along the initial fixed altitude in flight. If you encounter rugged terrain in flight,you need the advance exploration of topography and altitude adjustment. This method will increase the workload,but also meet the GPS signal weak areas prone to error; in addition,it can also be used in automatic measuring mode to realize the intelligent flight. And activeranging through the equipment in the UAV is equipped with a laser rangefinder,sonar range finder,which has the advantages of high precision,but this will increase the load and cost of UAV. This paper presents a monocular vision measuring method focusing camera based on image extracted according to the analysis of the principle of pinhole imaging characteristics of pipeline image and gets the actual distance of the UAV distance pipeline. The method is simple and efficient,and is conducive to realize the line automation.
【Fund】: 国家自然科学基金资助项目(51475469)
【CateGory Index】: TU990.3;V19
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